OpenRaiser/Intern-Atlas huggingface dataset:
Random projection tree similarity metric for SpectralNet
Venue: arXiv cs.LG 2023
Year: 2023

SpectralNet is a graph clustering method that uses neural network to find an embedding that separates the data. So far it was only used with $k$-nn graphs, which are usually constructed using a distance metric (e.g., Euclidean distance). $k$-nn graphs restrict the points to have a fixed number of neighbors regardless of the local statistics around them. We proposed a new SpectralNet similarity metric based on random projection trees (rpTrees). Our experiments revealed that SpectralNet produces better clustering accuracy using rpTree similarity metric compared to $k$-nn graph with a distance metric. Also, we found out that rpTree parameters do not affect the clustering accuracy. These parameters include the leaf size and the selection of projection direction. It is computationally efficient to keep the leaf size in order of $\log(n)$, and project the points onto a random direction instead of trying to find the direction with the maximum dispersion.
A One-way Secret Key Agreement with Security Against Active Adversaries
Venue: arXiv cs.CR 2023
Year: 2023

In a one-way secret key agreement (OW-SKA) protocol in source model, Alice and Bob have private samples of two correlated variables X and Y that are partially leaked to Eve through Z, and use a single message from Alice to Bob to obtain a secret shared key. We propose an efficient secure OW-SKA when the sent message can be tampered with by an active adversary. The construction follows the approach of an existing OW-SKA with security against passive adversaries, and uses a specially designed secure Message Authentication Code (MAC) that is secure when the key is partially leaked, to achieve security against active adversaries. We prove the secrecy of the established key and robustness of the protocol, and discuss our results.
Implicit Contact-Rich Manipulation Planning for a Manipulator with Insufficient Payload
Venue: arXiv cs.RO 2023
Year: 2023

This paper uses a mobile manipulator with a collaborative robotic arm to manipulate objects beyond the robot's maximum payload. It proposes a single-shot probabilistic roadmap-based method to plan and optimize manipulation motion with environment support. The method uses an expanded object mesh model to examine contact and randomly explores object motion while keeping contact and securing affordable grasping force. It generates robotic motion trajectories after obtaining object motion using an optimization-based algorithm. With the proposed method's help, we can plan contact-rich manipulation without particularly analyzing an object's contact modes and their transitions. The planner and optimizer determine them automatically. We conducted experiments and analyses using simulations and real-world executions to examine the method's performance. It can successfully find manipulation motion that met contact, force, and kinematic constraints, thus allowing a mobile manipulator to move heavy objects while leveraging supporting forces from environmental obstacles. The mehtod does not need to explicitly analyze contact states and build contact transition graphs, thus providing a new view for robotic grasp-less manipulation, non-prehensile manipulation, manipulation with contact, etc.
Heterogeneous robot teams with unified perception and autonomy: How Team CSIRO Data61 tied for the top score at the DARPA Subterranean Challenge
Venue: arXiv cs.RO 2023
Year: 2023

The DARPA Subterranean Challenge was designed for competitors to develop and deploy teams of autonomous robots to explore difficult unknown underground environments. Categorised in to human-made tunnels, underground urban infrastructure and natural caves, each of these subdomains had many challenging elements for robot perception, locomotion, navigation and autonomy. These included degraded wireless communication, poor visibility due to smoke, narrow passages and doorways, clutter, uneven ground, slippery and loose terrain, stairs, ledges, overhangs, dripping water, and dynamic obstacles that move to block paths among others. In the Final Event of this challenge held in September 2021, the course consisted of all three subdomains. The task was for the robot team to perform a scavenger hunt for a number of pre-defined artefacts within a limited time frame. Only one human supervisor was allowed to communicate with the robots once they were in the course. Points were scored when accurate detections and their locations were communicated back to the scoring server. A total of 8 teams competed in the finals held at the Mega Cavern in Louisville, KY, USA. This article describes the systems deployed by Team CSIRO Data61 that tied for the top score and won second place at the event.
Exploring Opinion-unaware Video Quality Assessment with Semantic Affinity Criterion
Venue: arXiv cs.CV 2023
Year: 2023

Recent learning-based video quality assessment (VQA) algorithms are expensive to implement due to the cost of data collection of human quality opinions, and are less robust across various scenarios due to the biases of these opinions. This motivates our exploration on opinion-unaware (a.k.a zero-shot) VQA approaches. Existing approaches only considers low-level naturalness in spatial or temporal domain, without considering impacts from high-level semantics. In this work, we introduce an explicit semantic affinity index for opinion-unaware VQA using text-prompts in the contrastive language-image pre-training (CLIP) model. We also aggregate it with different traditional low-level naturalness indexes through gaussian normalization and sigmoid rescaling strategies. Composed of aggregated semantic and technical metrics, the proposed Blind Unified Opinion-Unaware Video Quality Index via Semantic and Technical Metric Aggregation (BUONA-VISTA) outperforms existing opinion-unaware VQA methods by at least 20% improvements, and is more robust than opinion-aware approaches.
Data-Efficient Sequence-Based Visual Place Recognition with Highly Compressed JPEG Images
Venue: arXiv cs.CV 2023
Year: 2023

Visual Place Recognition (VPR) is a fundamental task that allows a robotic platform to successfully localise itself in the environment. For decentralised VPR applications where the visual data has to be transmitted between several agents, the communication channel may restrict the localisation process when limited bandwidth is available. JPEG is an image compression standard that can employ high compression ratios to facilitate lower data transmission for VPR applications. However, when applying high levels of JPEG compression, both the image clarity and size are drastically reduced. In this paper, we incorporate sequence-based filtering in a number of well-established, learnt and non-learnt VPR techniques to overcome the performance loss resulted from introducing high levels of JPEG compression. The sequence length that enables 100% place matching performance is reported and an analysis of the amount of data required for each VPR technique to perform the transfer on the entire spectrum of JPEG compression is provided. Moreover, the time required by each VPR technique to perform place matching is investigated, on both uniformly and non-uniformly JPEG compressed data. The results show that it is beneficial to use a highly compressed JPEG dataset with an increased sequence length, as similar levels of VPR performance are reported at a significantly reduced bandwidth. The results presented in this paper also emphasize that there is a trade-off between the amount of data transferred and the total time required to perform VPR. Our experiments also suggest that is often favourable to compress the query images to the same quality of the map, as more efficient place matching can be performed. The experiments are conducted on several VPR datasets, under mild to extreme JPEG compression.
TransferD2: Automated Defect Detection Approach in Smart Manufacturing using Transfer Learning Techniques
Venue: arXiv cs.CV 2023
Year: 2023

Quality assurance is crucial in the smart manufacturing industry as it identifies the presence of defects in finished products before they are shipped out. Modern machine learning techniques can be leveraged to provide rapid and accurate detection of these imperfections. We, therefore, propose a transfer learning approach, namely TransferD2, to correctly identify defects on a dataset of source objects and extend its application to new unseen target objects. We present a data enhancement technique to generate a large dataset from the small source dataset for building a classifier. We then integrate three different pre-trained models (Xception, ResNet101V2, and InceptionResNetV2) into the classifier network and compare their performance on source and target data. We use the classifier to detect the presence of imperfections on the unseen target data using pseudo-bounding boxes. Our results show that ResNet101V2 performs best on the source data with an accuracy of 95.72%. Xception performs best on the target data with an accuracy of 91.00% and also provides a more accurate prediction of the defects on the target images. Throughout the experiment, the results also indicate that the choice of a pre-trained model is not dependent on the depth of the network. Our proposed approach can be applied in defect detection applications where insufficient data is available for training a model and can be extended to identify imperfections in new unseen data.
The blame game: Understanding blame assignment in social media
Venue: arXiv cs.SI 2023
Year: 2023

Cognitive and psychological studies on morality have proposed underlying linguistic and semantic factors. However, laboratory experiments in the philosophical literature often lack the nuances and complexity of real life. This paper examines how well the findings of these cognitive studies generalize to a corpus of over 30,000 narratives of tense social situations submitted to a popular social media forum. These narratives describe interpersonal moral situations or misgivings; other users judge from the post whether the author (protagonist) or the opposing side (antagonist) is morally culpable. Whereas previous work focuses on predicting the polarity of normative behaviors, we extend and apply natural language processing (NLP) techniques to understand the effects of descriptions of the people involved in these posts. We conduct extensive experiments to investigate the effect sizes of features to understand how they affect the assignment of blame on social media. Our findings show that aggregating psychology theories enables understanding real-life moral situations. Moreover, our results suggest that there exist biases in blame assignment on social media, such as males are more likely to receive blame no matter whether they are protagonists or antagonists.
Strategic (Timed) Computation Tree Logic
Venue: arXiv cs.LO 2023
Year: 2023

We define extensions of CTL and TCTL with strategic operators, called Strategic CTL (SCTL) and Strategic TCTL (STCTL), respectively. For each of the above logics we give a synchronous and asynchronous semantics, i.e., STCTL is interpreted over networks of extended Timed Automata (TA) that either make synchronous moves or synchronise via joint actions. We consider several semantics regarding information: imperfect (i) and perfect (I), and recall: imperfect (r) and perfect (R). We prove that SCTL is more expressive than ATL for all semantics, and this holds for the timed versions as well. Moreover, the model checking problem for SCTL[ir] is of the same complexity as for ATL[ir], the model checking problem for STCTL[ir] is of the same complexity as for TCTL, while for STCTL[iR] it is undecidable as for ATL[iR]. The above results suggest to use SCTL[ir] and STCTL[ir] in practical applications. Therefore, we use the tool IMITATOR to support model checking of STCTL[ir].
User-Centric Evaluation of OCR Systems for Kwak'wala
Venue: arXiv cs.CL 2023
Year: 2023

There has been recent interest in improving optical character recognition (OCR) for endangered languages, particularly because a large number of documents and books in these languages are not in machine-readable formats. The performance of OCR systems is typically evaluated using automatic metrics such as character and word error rates. While error rates are useful for the comparison of different models and systems, they do not measure whether and how the transcriptions produced from OCR tools are useful to downstream users. In this paper, we present a human-centric evaluation of OCR systems, focusing on the Kwak'wala language as a case study. With a user study, we show that utilizing OCR reduces the time spent in the manual transcription of culturally valuable documents -- a task that is often undertaken by endangered language community members and researchers -- by over 50%. Our results demonstrate the potential benefits that OCR tools can have on downstream language documentation and revitalization efforts.
FLAG: Fast Label-Adaptive Aggregation for Multi-label Classification in Federated Learning
Venue: arXiv cs.LG 2023
Year: 2023

Federated learning aims to share private data to maximize the data utility without privacy leakage. Previous federated learning research mainly focuses on multi-class classification problems. However, multi-label classification is a crucial research problem close to real-world data properties. Nevertheless, a limited number of federated learning studies explore this research problem. Existing studies of multi-label federated learning did not consider the characteristics of multi-label data, i.e., they used the concept of multi-class classification to verify their methods' performance, which means it will not be feasible to apply their methods to real-world applications. Therefore, this study proposed a new multi-label federated learning framework with a Clustering-based Multi-label Data Allocation (CMDA) and a novel aggregation method, Fast Label-Adaptive Aggregation (FLAG), for multi-label classification in the federated learning environment. The experimental results demonstrate that our methods only need less than 50\% of training epochs and communication rounds to surpass the performance of state-of-the-art federated learning methods.
Spatial-Frequency Attention for Image Denoising
Venue: arXiv cs.CV 2023
Year: 2023

The recently developed transformer networks have achieved impressive performance in image denoising by exploiting the self-attention (SA) in images. However, the existing methods mostly use a relatively small window to compute SA due to the quadratic complexity of it, which limits the model's ability to model long-term image information. In this paper, we propose the spatial-frequency attention network (SFANet) to enhance the network's ability in exploiting long-range dependency. For spatial attention module (SAM), we adopt dilated SA to model long-range dependency. In the frequency attention module (FAM), we exploit more global information by using Fast Fourier Transform (FFT) by designing a window-based frequency channel attention (WFCA) block to effectively model deep frequency features and their dependencies. To make our module applicable to images of different sizes and keep the model consistency between training and inference, we apply window-based FFT with a set of fixed window sizes. In addition, channel attention is computed on both real and imaginary parts of the Fourier spectrum, which further improves restoration performance. The proposed WFCA block can effectively model image long-range dependency with acceptable complexity. Experiments on multiple denoising benchmarks demonstrate the leading performance of SFANet network.
Mapping and Comparing Data Governance Frameworks: A benchmarking exercise to inform global data governance deliberations
Venue: arXiv cs.CY 2023
Year: 2023

Data has become a critical resource for organizations and society. Yet, it is not always as valuable as it could be since there is no well-defined approach to managing and using it. This article explores the increasing importance of global data governance due to the rapid growth of data and the need for responsible data use and protection. While historically associated with private organizational governance, data governance has evolved to include governmental and institutional bodies. However, the lack of a global consensus and fragmentation in policies and practices pose challenges to the development of a common framework. The purpose of this report is to compare approaches and identify patterns in the emergent and fragmented data governance ecosystem within sectors close to the international development field, ultimately presenting key takeaways and reflections on when and why a global data governance framework may be needed. Overall, the report highlights the need for a more holistic, coordinated transnational approach to data governance to manage the global flow of data responsibly and for the public interest. The article begins by giving an overview of the current fragmented data governance ecology, to then proceed to illustrate the methodology used. Subsequently, the paper illustrates the most relevant findings stemming from the research. These are organized according to six key elements: (a) purpose, (b) principles, (c) anchoring documents, (d) data description and lifecycle, (e) processes, and (f) practices. Finally, the article closes with a series of key takeaways and final reflections.
Hulk: Graph Neural Networks for Optimizing Regionally Distributed Computing Systems
Venue: arXiv cs.DC 2023
Year: 2023

Large deep learning models have shown great potential for delivering exceptional results in various applications. However, the training process can be incredibly challenging due to the models' vast parameter sizes, often consisting of hundreds of billions of parameters. Common distributed training methods, such as data parallelism, tensor parallelism, and pipeline parallelism, demand significant data communication throughout the process, leading to prolonged wait times for some machines in physically distant distributed systems. To address this issue, we propose a novel solution called Hulk, which utilizes a modified graph neural network to optimize distributed computing systems. Hulk not only optimizes data communication efficiency between different countries or even different regions within the same city, but also provides optimal distributed deployment of models in parallel. For example, it can place certain layers on a machine in a specific region or pass specific parameters of a model to a machine in a particular location. By using Hulk in experiments, we were able to improve the time efficiency of training large deep learning models on distributed systems by more than 20\%. Our open source collection of unlabeled data:https://github.com/DLYuanGod/Hulk.
An algorithm for geo-distributed and redundant storage in Garage
Venue: arXiv cs.DS 2023
Year: 2023

This paper presents an optimal algorithm to compute the assignment of data to storage nodes in the Garage geo-distributed storage system. We discuss the complexity of the different steps of the algorithm and metrics that can be displayed to the user.
Supervised Virtual-to-Real Domain Adaptation for Object Detection Task using YOLO
Venue: arXiv cs.CV 2023
Year: 2023

Deep neural network shows excellent use in a lot of real-world tasks. One of the deep learning tasks is object detection. Well-annotated datasets will affect deep neural network accuracy. More data learned by deep neural networks will make the model more accurate. However, a well-annotated dataset is hard to find, especially in a specific domain. To overcome this, computer-generated data or virtual datasets are used. Researchers could generate many images with specific use cases also with its annotation. Research studies showed that virtual datasets could be used for object detection tasks. Nevertheless, with the usage of the virtual dataset, the model must adapt to real datasets, or the model must have domain adaptability features. We explored the domain adaptation inside the object detection model using a virtual dataset to overcome a few well-annotated datasets. We use VW-PPE dataset, using 5000 and 10000 virtual data and 220 real data. For model architecture, we used YOLOv4 using CSPDarknet53 as the backbone and PAN as the neck. The domain adaptation technique with fine-tuning only on backbone weight achieved a mean average precision of 74.457%.
Novel Efficient Scalable QCA XOR and Full Adder Designs
Venue: arXiv cs.ET 2023
Year: 2023

Circuit design based on Quantum-dots Cellular Automata technology offers power-efficiency and nano-size circuits. It is an attractive alternative to CMOS technology. The XOR gate is a widely used building element in arithmetic circuits. An efficient XOR gate in QCA computational circuits can significantly improve efficiency. This paper proposes two different approaches for designing 3-input QCA XOR gates with 10 and 8 cells. They require two clock phases to create output. They have efficient and scalable structures. To demonstrate the functionality of these structures, we design QCA full adders using the suggested gates and compare the results with existing designs. The proposed QCA full adder has only 12 cells and is the best compared to all the existing counterparts. We simulated and verified the proposed structures. We proved the functionality of the proposed QCA full adder and the suggested QCA XOR structures. Additionally, QCAPro is used to estimate the energy dissipation of the proposed XOR and Full-adder. The results demonstrated that the proposed designs have the desired performance based on the number of cells, occupied area, and latency.
Investigating Girls' Perspectives and Knowledge Gaps on Ethics and Fairness in Artificial Intelligence in a Lightweight Workshop
Venue: arXiv cs.HC 2023
Year: 2023

Artificial intelligence (AI) is everywhere, with many children having increased exposure to AI technologies in daily life. We aimed to understand middle school girls' (a group often excluded group in tech) perceptions and knowledge gaps about AI. We created and explored the feasibility of a lightweight (less than 3 hours) educational workshop in which learners considered challenges in their lives and communities and critically considered how existing and future AI could have an impact. After the workshop, learners had nuanced perceptions of AI, understanding AI can both help and harm. We discuss design implications for creating educational experiences in AI and fairness that embolden learners.
LLaMA: Open and Efficient Foundation Language Models
Venue: arXiv cs.CL 2023
Year: 2023

We introduce LLaMA, a collection of foundation language models ranging from 7B to 65B parameters. We train our models on trillions of tokens, and show that it is possible to train state-of-the-art models using publicly available datasets exclusively, without resorting to proprietary and inaccessible datasets. In particular, LLaMA-13B outperforms GPT-3 (175B) on most benchmarks, and LLaMA-65B is competitive with the best models, Chinchilla-70B and PaLM-540B. We release all our models to the research community.